In this research we show a characterization of mud behavior under vertical stepping. We
showed that mud stiffness can vary 45-fold and the energy spent to generate equivalent …

Legged robots have demonstrated high efficiency and effectiveness in unstructured and
dynamic environments. However, it is still challenging for legged robots to achieve rapid and …

Soft wet grounds such as mud, sand, or forest soils are complex to navigate because it is
hard to predict the response of the yielding ground and energy lost in deformation. In this …

Legged robots are a promising technology whose use is limited by their high energy
consumption. Biological and biomechanical studies have shown that the vibration generated …

Locomotion through resistive media is an organic occurrence during traversal of the natural
world. Due to the complexities required to analyze the effect of these media on the dynamics …

Sliding friction between two dry surfaces is reasonably described by the speed-independent
Amonton-Coulomb friction force law. However, there are many situations where the frictional …

Heterogeneous robotic systems in the field often encounter bodies of water with unknown
traversability properties. One approach to measuring depth, current, soil composition, etc. is …

Every day new technology appears. In the field of legged robots, it is not otherwise. LIDAR
vision, artificial intelligence, computing power and new drives help to improve the state of …

Everyday animals maneuver through complex unstructured environments provided by the
natural world. One way in which we can study these behaviors in animals is by partitioning …